CN105584480A - Parking assisting method and system for automatically selecting parking operations - Google Patents
Parking assisting method and system for automatically selecting parking operations Download PDFInfo
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- CN105584480A CN105584480A CN201410577143.9A CN201410577143A CN105584480A CN 105584480 A CN105584480 A CN 105584480A CN 201410577143 A CN201410577143 A CN 201410577143A CN 105584480 A CN105584480 A CN 105584480A
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Abstract
The invention relates to a parking assisting method for automatically selecting parking operations for a vehicle needing to be parked at a target parking place. The parking assisting method comprises the following steps of finding the target parking place for the vehicle, wherein a front object is positioned in front of the target parking place in the running direction of the vehicle; measuring the dimension of the target parking place; measuring the dimension of the front object, the length of the front object in the running direction of the vehicle, and a rear area behind the target parking place in the running direction of the vehicle so as to obtain a measurement value; determining whether the parking operating mode can be determined based on the dimension of the target parking place or not, and when the dimension of the target parking place is only suitable for perpendicular parking, executing a perpendicular parking operating mode; when the dimension of the target parking place is only suitable for parallel parking, executing a parallel parking operating mode; and if the parking operating mode cannot be determined based on the dimension of the target parking place, determining the parking operating mode according to the length of the front object and the measurement value. The invention further provides a parking assisting system for executing the method.
Description
Technical field
The present invention relates to the parking assistance method that is used to vehicle automatically to select shut-down operation with a kind of, andCarry out the parking assistance system of the method.
Background technology
In existing parking ancillary technique, conventionally press the operation button to select shut-down operation by driverPattern, carries out shut-down operation with order parking assistance system, and shut-down operation pattern described here is for exampleHorizontal shut-down operation pattern and vertical shut-down operation pattern.
In self-stopping situation, in one case, in docking process, need to consider to define parkingDistance between two objects of position, this distance is used for judging that parking stall is applicable to being parallel to vehicle direct of travelThe mode of parking, or be applicable to perpendicular to the mode of parking of vehicle direct of travel. Dark to parking stall in additionDegree also needs to consider. The less degree of depth and the larger length parallel parking stall of instruction conventionally, and less length,For example be less than 3.5 meters, and the larger degree of depth, for example conventionally exceeding Vehicle length, instruction vertically stops conventionallyParking stall.
For example in another case, vehicle is advanced and is defined vehicle or barrier by a parking stall, and meaningFigure is parked in its front, and the width quilt along vehicle direct of travel of vehicle or barrier is defined on this parking stallFor determining shut-down operation pattern. If this width is less than or equal to predetermined reference length, carry out reversingAnd vertical shut-down operation. If this width is greater than predetermined reference length, carry out parallel shut-down operation.
But in above-mentioned automatic stopping supporting process, also need under many circumstances driver's intervention,Reduce thus the comfortableness that user experiences and user experiences, even may cause maloperation.
Summary of the invention
The invention provides a kind of vehicle of parking to target parking position that is used to and automatically select shut-down operationParking assistance method, comprising: find the target parking position for vehicle, wherein, objects in front is along carDirect of travel be positioned at the front of target parking position; Detect the size of target parking position; Square object before detectingThe size of body, detects the length of objects in front along vehicle direct of travel, detects and is positioned at along vehicle direct of travelThe rear area at target parking position rear is to obtain a detected value; Determine whether shut-down operation pattern can baseSize in described target parking position decides; Wherein, when the size of target parking position is only suitable for vertically stoppingChe Shi, carries out vertical shut-down operation pattern; In the time that the size of target parking position is only suitable for parallel parking, holdThe parallel shut-down operation pattern of row; If the size that shut-down operation pattern can not based target parking stall is determinedFixed, determine shut-down operation pattern according to the length of objects in front and described detected value.
Detect the size of target parking position comprise detect target parking position along the length of vehicle direct of travel andThe degree of depth of target parking position.
When being only suitable for carrying out vertical shut-down operation pattern while vertically parking, the size of target parking position comprises, reallyThe width that the length on parking stall of setting the goal is greater than described vehicle add the first width offset and be less than described inThe length of vehicle adds the first length offset amount, and the degree of depth of target parking position is substantially equal to described vehicleLength.
The first width offset is that 55cm and/or the first length offset amount are 70cm.
In the time that the size of target parking position is only suitable for parallel parking, carry out parallel shut-down operation pattern and comprise, reallyThe length that the length on parking stall of setting the goal is greater than described vehicle adds the second length offset amount, and target is stoppedThe degree of depth of parking stall is substantially equal to described vehicle width.
The second length offset amount is 70cm.
Determining according to the length of objects in front and described detected value that shut-down operation pattern comprises judges along vehicleWhether the rear object that direct of travel is positioned at rear, parking stall exists; In the time that rear object does not exist, according toThe length of objects in front is determined shut-down operation pattern; In the time that rear object exists, after described detected value instructionSquare object body is along the length of the direct of travel of vehicle, and according to the length of the length of objects in front and rear objectDetermine shut-down operation pattern.
In the time that not existing, rear object determines that according to the length of objects in front shut-down operation pattern comprises: currentWhen the length of square object body is positioned at vehicle width threshold range, carry out vertical shut-down operation pattern; Work as frontWhen the length of object is positioned at Vehicle length threshold range, carry out parallel shut-down operation pattern; Otherwise, logicalKnow that driver manually selects shut-down operation pattern.
Determine that according to the length of the length of rear object and objects in front shut-down operation pattern comprises: work as frontThe length that the length of object is positioned at Vehicle length threshold range and rear object is not positioned at vehicle widthIn threshold range time, carry out parallel shut-down operation pattern.
The length that is positioned at Vehicle length threshold range and rear object when the length of objects in front does not have positionWhen condition in vehicle width threshold range does not meet, described method also comprises: when the length of objects in frontThe length that degree is positioned at vehicle width threshold range and rear object is not positioned at Vehicle length threshold rangeWhen interior, carry out vertical shut-down operation pattern.
The length that is positioned at vehicle width threshold range and rear object when the length of objects in front does not have positionWhen condition in Vehicle length threshold range does not meet, described method also comprises: when the length of objects in frontWhen degree be not both positioned at Vehicle length threshold value and is not positioned at vehicle width threshold value yet, judge the length of rear objectDegree: in the time that the length of rear object is positioned at Vehicle length threshold range, carry out parallel shut-down operation pattern;In the time that the length of rear object is positioned at vehicle width threshold range, carry out vertical shut-down operation pattern; WhenThe length of objects in front be not both positioned at Vehicle length threshold range and be not positioned at vehicle width threshold value yetScope length interior and rear object be not both positioned at Vehicle length threshold value and be not positioned at vehicle width threshold yetWithin the scope of value time, driver is manually selected shut-down operation pattern.
When the length of objects in front be not both positioned at Vehicle length threshold range, not also to be positioned at vehicle wideWhen condition in degree threshold range does not meet, described method also comprises: when the length of objects in front is positioned at carWithin the scope of width threshold value and when the length of rear object is positioned at Vehicle length threshold range, judge along carThe direct of travel object that park at object rear is in the wings along the length of vehicle direct of travel: when thing in the wingsWhen the length of the object that park at body rear is positioned at Vehicle length threshold range, carry out parallel shut-down operation mouldFormula; Otherwise driver is manually selected shut-down operation pattern.
The length that is positioned at vehicle width threshold range and rear object when the length of objects in front is positioned at carWhen condition within the scope of length threshold does not meet, described method also comprises: when the length position of objects in frontIn Vehicle length threshold range and when the length of rear object is positioned at vehicle width threshold range, judgementThe object that park at object rear is in the wings along the length of vehicle direct of travel: when park at object rear in the wingsThe length of object while being positioned at vehicle width threshold range, carry out vertical shut-down operation pattern; Otherwise,Driver is manually selected shut-down operation pattern.
Described vehicle width threshold range is the scope of 1.6 meters to 2.0 meters, and/or described Vehicle length thresholdValue scope is the scope of 3.5 meters to 5.5 meters.
The present invention also provide a kind of be used to parking to the vehicle of target parking position automatically select stop behaviourThe parking assistance system of doing, comprises detection module and Executive Module. Detection module is used for: find for carTarget parking position, wherein, objects in front is positioned at the front of target parking position along the direct of travel of vehicle;Detect the size of target parking position; Detect the length of objects in front along vehicle direct of travel; Detect along vehicleDirect of travel at the rear area at target parking position rear to obtain a detected value. Executive Module is used for: connectReceive the information being sent by detection module, wherein, described information comprises the size of target parking position, front square objectThe length of body and described detected value; Determine that shut-down operation pattern whether can be based on described target parking positionSize decides; Wherein, in the time that the size of target parking position is only suitable for vertically stopping, described Executive ModuleCarry out vertical shut-down operation pattern; In the time that the size of target parking position is only suitable for parallel parking, described executionModule is carried out parallel shut-down operation pattern; What if shut-down operation pattern can not be based on described target parking positionSize decides, and described Executive Module is determined shut-down operation according to the length of objects in front and described detected valuePattern.
Detection module detects length and the degree of depth of target parking position along vehicle direct of travel.
The width that is greater than described vehicle when the length of target parking position adds the first width offset and is less thanThe length of described vehicle adds the first length offset amount, and described in the degree of depth of target parking position is substantially equal toWhen the length of vehicle, described Executive Module is carried out vertical shut-down operation pattern.
The first width offset is that 55cm and/or the first length offset amount are 70cm.
The length that is greater than described vehicle when the length of target parking position adds the second length offset amount, and orderWhen the degree of depth on mark parking stall is substantially equal to the width of described vehicle, described Executive Module is carried out parallel parking behaviourOperation mode.
The second length offset amount is 70cm.
Described Executive Module judges whether rear object exists; In the time that rear object does not exist, described executionModule is determined shut-down operation pattern according to the length of objects in front; In the time that rear object exists, described executionModule is designated as rear object along the length of vehicle direct of travel and according to objects in front by described detected valueLength and the length of rear object determine shut-down operation pattern.
In the time that rear object does not exist: in the time that the length of objects in front is positioned at vehicle width threshold range,Described Executive Module is carried out vertical shut-down operation pattern; When the length of objects in front is positioned at Vehicle length threshold valueIn scope time, described Executive Module is carried out parallel shut-down operation pattern; Otherwise, described Executive Module noticeDriver manually selects shut-down operation pattern.
The length that is positioned at Vehicle length threshold range and rear object when the length of objects in front does not have positionIn vehicle width threshold range time, described Executive Module is carried out parallel shut-down operation pattern.
The length that is positioned at vehicle width threshold range and rear object when the length of objects in front does not have positionIn Vehicle length threshold range time, described Executive Module is carried out vertical shut-down operation pattern.
When the length of objects in front be not both positioned at Vehicle length threshold range, not also to be positioned at vehicle wideIn degree threshold range time, described Executive Module judges the length of rear object: when the length position of rear objectIn Vehicle length threshold range time, described Executive Module is carried out parallel shut-down operation pattern; When after square objectWhen the length of body is positioned at vehicle width threshold range, described Executive Module is carried out vertical shut-down operation mouldFormula; When not both being positioned at Vehicle length threshold range, the length of objects in front was not positioned at vehicle width yetThreshold range length interior and rear object be not both positioned at Vehicle length threshold range and be not positioned at yetIn vehicle width threshold range time, described Executive Module driver is manually selected shut-down operation pattern.
The length that is positioned at vehicle width threshold range and rear object when the length of objects in front is positioned at carWithin the scope of length threshold time, described Executive Module judges along vehicle direct of travel and stops at object rear in the wingsThe object of putting is along the length of vehicle direct of travel: when the length of the object that park at object rear is in the wings positioned atIn Vehicle length threshold range time, described Executive Module is carried out parallel shut-down operation pattern; Otherwise, described inExecutive Module driver is manually selected shut-down operation pattern.
The length that is positioned at Vehicle length threshold range and rear object when the length of objects in front is positioned at carWithin the scope of width threshold value time, described Executive Module judges along vehicle direct of travel and stops at object rear in the wingsThe object of putting is along the length of vehicle direct of travel: when the length of the object that park at object rear is in the wings positioned atIn vehicle width threshold range time, described Executive Module is carried out vertical shut-down operation pattern; Otherwise, described inExecutive Module driver is manually selected shut-down operation pattern.
Described vehicle width threshold range is the scope of 1.6 meters to 2.0 meters, and/or described Vehicle length thresholdValue scope is the scope of 3.5 meters to 5.5 meters.
According to parking assistance method and the system energy that is used to vehicle automatically to select shut-down operation of the present inventionEnough reduce the interference of user to parking supporting process, and reduced the possibility of user misoperation, thereby carryHaving risen user experiences and comfortableness. And parking assistance system tool according to the present invention is significantly improvedIntelligent.
Brief description of the drawings
By accompanying drawing below, those skilled in the art will have better understanding to the present invention, and more canClearly embody advantage of the present invention. Accompanying drawing described herein is only for the object of embodiment is described, andNot whole possible embodiments, and be intended to not limit the scope of the invention.
Fig. 1 schematically shows the target parking position that vehicle travels through and is only suitable for vertical feelings of stoppingShape;
Fig. 2 schematically shows target parking position that vehicle travels through and is only suitable for the feelings of parallel parkingShape;
Fig. 3 is exist object not have object in the wings in target parking position front during along vehicle direct of travelSelect the schematic diagram of car-parking model;
Fig. 4 is exist object not have object in the wings in target parking position front during along vehicle direct of travelSelect the another schematic diagram of car-parking model;
Fig. 5-8th, selects in the time that target parking position front and rear all exist object along vehicle direct of travel to stopThe schematic diagram of car pattern;
Fig. 9 and 10 selects in the time that target parking position front and rear all exist object along vehicle direct of travelSelect the schematic diagram of car-parking model, wherein, after the object at target parking position rear, also have an object;
Figure 11 shows according to of the present invention for automatically selecting the parking assistance method of shut-down operationFlow chart.
Detailed description of the invention
Below with reference to accompanying drawing to being elaborated according to a preferred embodiment of the invention. By accompanying drawing withAnd corresponding explanatory note, it will be understood to those of skill in the art that characteristics and advantages of the present invention.
In this manual, shut-down operation pattern is divided into two kinds, and statement " parallel parking " operator scheme isRefer to parked after, vehicle towards being roughly parallel to the original direct of travel of vehicle; Statement " vertically stopsCar " after operator scheme refers to and parked, vehicle towards being approximately perpendicular to the original direct of travel of vehicle.
Fig. 1 and 2 schematically shows the target parking position P that vehicle 100 travels through along direction MSituation. Vehicle 100 can comprise parking assistance system 110, and this parking assistance system 110 is used to thisVehicle 100 is selected shut-down operation automatically. Described parking assistance system 110 can comprise detection module 111 HesExecutive Module 112. Detection module 111 can comprise the sensor being arranged on vehicle body, passes such as ultrasonic waveSensor, infrared sensor, radar sensor etc., it can for example be arranged on vehicle body periphery or bumper,Can be used for finding the target parking position P of vehicle 100. As shown in figs. 1 and 2, along the row of vehicle 100Enter direction M and have an object 200 in target parking position P front, referred to here as objects in front 200. ShouldObjects in front 200 is for example the vehicle of having parked, and it can define target parking position P, still, and frontObject 200 can be also other objects, such as barrier etc. Detection module 111 can be also for detection of orderThe size of mark parking stall P, for example, parking stall P is along length L and the depth D of vehicle direct of travel M,As illustrated in fig. 1 and 2. In addition, detection module 111 can be used for detecting the object that is positioned at P front, parking stallThe 200 length L F along direct of travel M, and detect and stop in target along the direct of travel M of vehicle 100The region at P rear, parking stall, referred to herein as rear area, to obtain a detected value LR.
Detection module 111 can communicate with Executive Module 112, with the data that detected, such asThe size of target parking position P, the length L F of objects in front 200 and the detected value LR about rear areaBe sent to Executive Module 112.
Executive Module 112 receives for example, data from detection module 111 (each sensor), and according toThe one or more shut-down operation pattern of selecting in described data. Described Executive Module 112 for example can wrapDraw together the microprocessor or the microcontroller (not shown) etc. that are arranged in vehicle 100.
In one embodiment, Executive Module 112 can determine whether shut-down operation pattern can based targetThe size of parking stall P is determined. Particularly, in the time that the size of target parking position P is only suitable for vertically stopping,Executive Module 112 is carried out vertical shut-down operation pattern. More accurately, as shown in Figure 1, when target is stoppedThe width W T that the length L of position P is greater than vehicle 100 adds the first width offset and is less than vehicle 100Length L T add the first length offset amount, and the depth D of target parking position P is substantially equal to vehicleWhen 100 length L T, Executive Module 112 is carried out vertical shut-down operation pattern. For example, this is first wideDegree side-play amount is 55cm, and this first length offset amount is 70cm.
And in the time that the size of target parking position P is only suitable for parallel parking, Executive Module 112 is carried out parallel stoppingCar operator scheme. More accurately, as shown in Figure 2, when the length L of target parking position P is greater than vehicle100 length L T adds that the depth D of the second length offset amount and target parking position P is substantially equal to carWhen 100 width W T, Executive Module 112 is carried out parallel shut-down operation pattern. For example, this secondLength offset amount is 70cm. In this example, the first length offset amount equates with the second length offset amount,But they also can be unequal, for example, this can be depending on the concrete size of vehicle 100.
If Executive Module 112 is determined the size that shut-down operation pattern can not based target parking stall P and is determinedFixed, Executive Module 112 stops according to the length L F of received objects in front 200 with about targetThe detected value LR of position P rear area determines shut-down operation pattern.
Particularly, Executive Module 112 can judge along vehicle direct of travel M and is positioned at parking stall P rearWhether rear object 300 exists, as shown in Figures 3 and 4. Rear object 300 is for example parkedVehicle, it defines parking stall P, and still, it can be also other objects, for example barrier. Work as rearWhen object 300 does not exist, Executive Module 112 is only determined and is stopped according to the length L F of objects in front 200Operator scheme. Particularly, as shown in Figure 3, when the length L F of objects in front 200 is in vehicle widthIn threshold range time, for example, when the length L F of objects in front 200 is in the scope of 1.6 meters to 2.0 meters,Executive Module 112 can think that objects in front 200 (vehicle 200 of for example having parked) is in vertically parkingSituation in, Executive Module 112 is carried out vertical shut-down operation pattern. And when the length of objects in front 200Degree LF is in Vehicle length threshold range time, and for example the length L F of objects in front 200 is in 3.5 metersTo in the scope of 5.5 meters time, Executive Module 112 for example can think that objects in front 200 (for example parksVehicle 200) in situation in paralleling parking, Executive Module 112 is carried out parallel shut-down operation mouldFormula, as shown in Figure 4.
In the wings in the non-existent situation of object 300, if the length L F of objects in front 200 neither locatesIn vehicle width threshold range, also not in Vehicle length threshold range, Executive Module 112 soCan manually select shut-down operation pattern by driver. Driver, can be by pressing after notifiedThe button being positioned on vehicle is selected parallel shut-down operation pattern or vertical shut-down operation pattern.
If the Executive Module 112 of parking assistance system 110 judges that rear object 300 exists, carry out mouldPiece 112 can be designated as rear object 300 by the detected value LR of the rear area about target parking position PAlong the length L R of the direct of travel M of vehicle 100, and Executive Module 112 is according to objects in front 200Length L F and the length L R of rear object 300 determine shut-down operation pattern.
Particularly, as shown in Figure 5, when objects in front 200 (such as, the vehicle 200 of having parked)When length L F is positioned at Vehicle length threshold range, for example the length L F of objects in front 200 is in 3.5Rice in the scope of 5.5 meters time, and is not positioned at Vehicle length threshold as the length L R of rear object 300Within the scope of value time, for example, schematically shown in Figure 5, the length L R of rear object 300 is greater than5.5 meters, Executive Module 112 for example can think that objects in front 200 (vehicle 200 of for example having parked) locatesIn the situation of paralleling parking, Executive Module 200 is carried out parallel shut-down operation pattern. This Vehicle lengthThreshold range is for example 3.5 meters to 5.5 meters.
As shown in Figure 6, when the objects in front 200 length L F position of (such as, the vehicle 200 of having parked)In vehicle width threshold range time, for example the length L F of objects in front 200 is in 1.6 meters to 2.0 metersScope in time, and in the time that the length L R of rear object 300 is not positioned at Vehicle length threshold range,For example, schematically shown in Figure 6, the length L R of rear object 300 is greater than 5.5 meters, carries outModule 112 for example can think that objects in front 200 (vehicle 200 of for example having parked) is in vertically parkingSituation in, Executive Module 200 is carried out vertical shut-down operation pattern. This vehicle width threshold range exampleAs it is 1.6 meters to 2.0 meters.
The length L F that Fig. 7-8 schematically show objects in front 200 be not both positioned at Vehicle length thresholdWithin the scope of value, be not positioned at the situation of vehicle width threshold range yet. In this case, Executive Module 112Determine shut-down operation pattern according to the length L R of rear object 300.
Particularly, as shown in Figure 7, now, the length L F of objects in front 200 is neither in 3.5 metersTo the scope of 5.5 meters, also not in the scope of 1.6 meters to 2.0 meters. And the length of rear object 300Degree LR in Vehicle length threshold range, for example, in the scope of 3.5 meters to 5.5 meters, rear object300 can be for example the vehicle 300 of having parked, and now, Executive Module 112 can be thought the vehicle at rear300 have paralleled parking, and Executive Module 112 can be carried out parallel shut-down operation pattern.
As shown in Figure 8, with Fig. 7 similarly, the length L F of objects in front 200 is neither in 3.5 metersTo the scope of 5.5 meters, also not in the scope of 1.6 meters to 2.0 meters. And the length of rear object 300Degree LR in vehicle width threshold range, for example, in the scope of 1.6 meters to 2.0 meters, rear object300 can be for example the vehicle 300 of having parked, and now, Executive Module 112 can be thought the vehicle at rear300 have vertically parked, and Executive Module 112 can be carried out vertical shut-down operation pattern.
The length L F of object 200 be not both positioned at Vehicle length threshold range and be not positioned at yet forwardlyIn vehicle width threshold range, and the length L R of rear object 300 be not both positioned at Vehicle length yetIn threshold range, be not also positioned in the situation of vehicle width threshold range, Executive Module 112 can be notifiedDriver manually selects shut-down operation pattern.
Fig. 9 schematically shows a kind of situation, and wherein, the length L F of objects in front 200 is positioned at carWithin the scope of width threshold value, and the length L R of rear object 300 is positioned at Vehicle length threshold range,For example, objects in front 200 is vehicles of vertically having parked, and rear object 300 is to parallel parkingVehicle, Executive Module 112 can also judge the direct of travel M object 300 in the wings along vehicle 100The object 400 parked of rear along the length L RR of vehicle direct of travel M.
As shown in Figure 9, in the time that the length L RR of object 400 is positioned at Vehicle length threshold range, exampleIf object 400 is the vehicles of having paralleled parking, Executive Module 112 can be thought vehicle 300,400All parallel parking, thereby Executive Module 112 can be carried out parallel shut-down operation pattern. If now object 400Length L RR be not positioned at Vehicle length threshold range, Executive Module 112 can driverManually select shut-down operation pattern.
Figure 10 shows another kind of situation, and wherein, the length L F of objects in front 200 is positioned at Vehicle lengthIn threshold range, and the length L R of rear object 300 is positioned at vehicle width threshold range, for example,Objects in front 200 is the vehicles of having paralleled parking, and rear object 300 is vehicles of vertically having parked,Executive Module 112 can also judge the direct of travel M rear of object 300 in the wings along vehicle 100The object 400 of parking is along the length L RR of vehicle direct of travel M.
As shown in figure 10, in the time that the length L RR of object 400 is positioned at vehicle width threshold range, exampleIf object 400 is vehicles of vertically having parked, Executive Module 112 can be thought vehicle 300,400All vertically park, Executive Module 112 can be carried out vertical shut-down operation pattern. If now object 400Length L RR be not positioned at Vehicle length threshold range, Executive Module 112 can driverManually select shut-down operation pattern.
During driver manually selects shut-down operation pattern, it can select parallel shut-down operation pattern,Or vertical shut-down operation pattern. If driver does not select, Executive Module can continue noticeDriver manually selects shut-down operation pattern.
More than described a kind of parking assistance system, this parking assistance system is used to park to target and stopsThe vehicle 100 of position P is selected shut-down operation automatically. Describe and use below with reference to Figure 11 and in conjunction with Fig. 1-10In being vehicle 100 method of selection shut-down operation automatically of parking to target parking position P.
As shown in figure 11, method starts from step 1100, in step 1100, for vehicle 100Target parking position P is found, and also as shown in figs. 1 and 2, along the direct of travel M of vehicle 100Having an objects in front 200 in target parking position P front, for example, is the vehicle 200 of having parked, orOther objects, for example barrier. In step 1100, can detect the size of target parking position P, exampleAs, parking stall P is along length L and the depth D of vehicle direct of travel M, as illustrated in fig. 1 and 2. ThisIn step 1100, can also detect the object 200 that is positioned at P front, parking stall along direct of travel M outward,Length L F, and detect along the direct of travel M of vehicle 100 in the region at target parking position P rear,To obtain a detected value LR.
Method marches to step 1200, and in this step 1200, method can be determined target parking position P'sWhether size is suitable for parallel parking. In the time that the size of target parking position P is suitable for parallel parking, method is advancedTo step 1300, below describe in detail. In the time that the size of target parking position P is unsuitable for parallel parking, concreteGround, in the time that the size of target parking position P is only suitable for vertically stopping, vertical shut-down operation pattern is performed.More accurately, as shown in Figure 1, when the length L of target parking position P is greater than the width W T of vehicle 100The length L T that adds the first width offset and be less than vehicle 100 adds the first length offset amount, andWhen the depth D of target parking position P is substantially equal to the length L T of vehicle 100, method can judge that target stopsParking stall is unsuitable for parallel parking, and method marches to step 4100, in step 4100, vertically stopsOperator scheme is performed. For example, this first width offset is 55cm, and this first length offset amount is70cm。
As mentioned above, when the size that can determine target parking position P in step 1200 is suitable for parallel parkingTime, method marches to step 1300. In step 1300, method can be determined the chi of target parking position PVery littlely whether be suitable for vertical parking. In the time that the size of target parking position P is suitable for vertically stopping, method marches toStep 1400, below describes in detail. In the time that the size of target parking position P is unsuitable for vertically stopping, particularly,In the time that the size of target parking position P is only suitable for parallel parking, parallel shut-down operation pattern is performed. More smartReally, as shown in Figure 2, the length that is greater than vehicle 100 when the length L of target parking position P adds secondWhen the degree of depth of length offset amount and target parking position P is substantially equal to the width W T of vehicle 100, can sentenceDisconnected target parking position is unsuitable for vertical parking, and method marches to step 4200, in step 4200,Parallel shut-down operation pattern is performed. For example, this second length offset amount is 70cm. Notice, thisIn the first length offset amount equate with the second length offset amount, but they also can be unequal, for example,This can be depending on the concrete size of vehicle 100.
As mentioned above, in the time that the size of target parking position P is also suitable for vertically stopping, method marches to step1400, now, the size that shut-down operation pattern can not based target parking stall P decides. In this feelingsUnder condition, the length L F of the method according to this invention based on objects in front 200 and about target parking position PThe detected value LR of rear area determine shut-down operation pattern.
Particularly, in step 1400, method can judge along vehicle direct of travel M and is positioned at parking stall PWhether the rear object 300 at rear does not exist, as shown in Figures 3 and 4. Rear object 300 is for exampleThrough the vehicle of parking, still, it can be also other objects, for example barrier. If in step 1400Middle method judges that rear object 300 does not exist, and method is only true according to the length L F of objects in front 200Determine shut-down operation pattern. Particularly, method marches to step 2400. In step 2400, as Fig. 3Shown in, the length L F that method is determined objects in front 200 whether in vehicle width threshold range, exampleIf whether the length L F of objects in front 200 is in the scope of 1.6 meters to 2.0 meters, if so, methodCan think objects in front 200, the vehicle 200 of for example having parked, in the situation in vertically parking, sideThen method marches in step 4100, and in step 4100, vertical shut-down operation pattern is performed. WhenMethod determines that in step 2400 the length L F of objects in front 200 is not in vehicle width threshold rangeWhen interior, method marches to step 2500. In step 2500, method is determined the length of objects in front 200Whether degree LF is in Vehicle length threshold range, and for example whether the length L F of objects in front 200 locatesIn the scope of 3.5 meters to 5.5 meters, if so, method for example can be thought objects in front 200, for exampleThe vehicle 200 of parking, in the situation in paralleling parking, method marches to step 4200, in stepIn 4200, parallel shut-down operation pattern is performed, as shown in Figure 4.
In the wings in the non-existent situation of object 300, if the length L F of objects in front 200 neither locatesIn vehicle width threshold range, also, not in Vehicle length threshold range, method marches to step2600, in step 2600, can manually select shut-down operation pattern by driver.
If in step 1400, method determines that rear object 300 exists, and method can be by about orderThe detected value LR of the rear area of mark parking stall P is designated as rear object 300 advancing along vehicle 100The length L R of direction M, and method can be according to the length L F of objects in front 200 and rear object 300Length L R both determine shut-down operation pattern.
Particularly, method marches to step 1500. In step 1500, as shown in Figure 5, work as methodThe length L F that determines objects in front 200 (such as, the vehicle 200 of having parked) is positioned at Vehicle length threshold valueIn scope, for example the length L F of objects in front 200 in the scope of 3.5 meters to 5.5 meters, and rearWhen the length L R of object 300 is not positioned at Vehicle length threshold range, for example, as illustrated in Fig. 5Shown in property ground, the length L R of rear object 300 is greater than 5.5 meters, and method can be thought objects in front 200For example, in (vehicle 200 of having parked) situation in paralleling parking, method marches to step 4200,In step 4200, parallel shut-down operation pattern is performed. Otherwise method marches to step 1600.In this example, this Vehicle length threshold range is for example 3.5 meters to 5.5 meters.
In step 1600, as shown in Figure 6, if method determine objects in front 200 (such as, stopThe vehicle 200 of putting) length L F be positioned at vehicle width threshold range, for example objects in front 200Length L F is in the scope of 1.6 meters to 2.0 meters, and the length L R of rear object 300 is not positioned atIn Vehicle length threshold range, for example, schematically shown in Figure 6, the length of rear object 300LR is obviously greater than 5.5 meters, and method can think that objects in front 200 (vehicle 200 of for example having parked) locatesIn the situation of vertically parking, method marches to step 4100, in step 4100, and the vertical behaviour of stoppingOperation mode is performed. Otherwise method marches to step 1700. This vehicle width threshold range is for example1.6 meters to 2.0 meters.
In step 1700, now, the length L F of objects in front 200 be not both positioned at Vehicle length thresholdWithin the scope of value, be not positioned at vehicle width threshold range yet. In this case, method is according to rear object300 length L R determines shut-down operation pattern.
Particularly, in step 1700, and as shown in Figure 7, if method is determined rear object 300Length L R in Vehicle length threshold range, for example, in the scope of 3.5 meters to 5.5 meters, can recognizeFor example, parallel parking for rear object 300 (vehicle 300), method marches to step 4200,In step 4200, parallel shut-down operation pattern is performed. Otherwise step marches to step 1800.
If in step 1800, method determines that the length L R of rear object 300 is in vehicle width thresholdWithin the scope of value, for example, in the scope of 1.6 meters to 2.0 meters, can think rear object 300 (for example vehicle)Vertically park, method marches to step 4100, in step 4100, and vertical shut-down operation mouldFormula is performed. Otherwise method marches to step 1900.
In step 1900, method determines that whether present case is that the length L F of objects in front 200 did not both haveThere is the Vehicle length of being positioned at threshold range not also to be positioned at vehicle width threshold range, and rear object300 length L R be not both positioned at Vehicle length threshold range yet and be not positioned at vehicle width threshold value yetIn scope. If so, method marches to step 2600, in step 2600, and can driverManually select shut-down operation pattern. Otherwise method marches to step 2000.
In step 2000, method determines whether that the length L F of objects in front 200 is positioned at vehicle width thresholdWithin the scope of value and the length L R of rear object 300 be positioned at Vehicle length threshold range, for example, frontObject 200 is vehicles of vertically having parked, and rear object 300 is the vehicles of having paralleled parking, asBe really, method marches to step 2300, otherwise method marches to step 2100. In step 2300,Method can also judge the direct of travel M object that park at the rear of object 300 in the wings along vehicle 100The 400 length L RR along vehicle direct of travel M.
In step 2300, as shown in Figure 9, if determining the length L RR of object 400, method is positioned atIn Vehicle length threshold range, for example object 400 is the vehicles of having paralleled parking, and method can be thoughtVehicle 300,400 is all paralleled parking, and method marches to step 4200, in step 4200, parallelShut-down operation pattern is performed. Otherwise method marches to step 2600, in step 2600, can lead toKnow that driver manually selects shut-down operation pattern.
In step 2100, if determining the length L F of objects in front 200, method is positioned at Vehicle length thresholdWithin the scope of value, and the length L R of rear object 300 is positioned at vehicle width threshold range, for example, frontSquare object body 200 is the vehicles of having paralleled parking, and rear object 300 is vehicles of vertically having parked,Method marches to step 2200. Otherwise method marches to step 2600. In step 2200, sideMethod can also judge the direct of travel M object 400 that park at the rear of object 300 in the wings along vehicle 100Along the length L RR of vehicle direct of travel M.
In step 2200, as shown in figure 10, if method is determined the length L RR position of object 400In vehicle width threshold range, for example object 400 is vehicles of vertically having parked, and method can be thoughtVehicle 300,400 is all vertically parked, and method marches to step 4100, in step 4100, verticalShut-down operation pattern is performed. Otherwise method marches to step 2600, in step 2600, can lead toKnow that driver manually selects shut-down operation pattern.
Especially, in step 2600, driver manually selects shut-down operation pattern. Method marches toStep 2700, in step 2700, if driver's selection is parallel shut-down operation pattern, sideMethod marches to step 4200, and wherein parallel shut-down operation pattern will be performed. Otherwise method marches to step2800. In step 2800, if driver's selection is vertical shut-down operation pattern, method rowProceed to step 4100, wherein vertical shut-down operation pattern will be performed. Otherwise method is back to step2600。
Although carried out detailed description, art technology to carrying out better model of the present inventionPersonnel can learn that being used in the scope of appended claim implement many replacements design of the present inventionAnd embodiment.
Claims (28)
1. one kind is used to the vehicle (100) of parking to target parking position (P) automatically to select the behaviour of stoppingThe parking assistance method of doing, comprising:
Find the target parking position (P) for vehicle (100), wherein, objects in front (200) is along carThe direct of travel of (100) is positioned at the front of target parking position;
Detect the size of target parking position (P);
Detect the size of objects in front (200), detect objects in front (200) along vehicle (100) OKEnter the length (LF) of direction, detect and be positioned at after target parking position (P) along vehicle (100) direct of travelThe rear area of side is to obtain a detected value (LR);
Determine whether shut-down operation pattern can the size based on described target parking position (P) decide;Wherein
In the time that the size of target parking position (P) is only suitable for vertically stopping, carry out vertical shut-down operation pattern;
In the time that the size of target parking position (P) is only suitable for parallel parking, carry out parallel shut-down operation pattern;
If the size that shut-down operation pattern can not based target parking stall (P) decides, according to frontLength (LF) and the described detected value (LR) of object (200) are determined shut-down operation pattern.
2. method according to claim 1, wherein, detects the size bag of target parking position (P)Draw together and detect target parking position (P) along the length (L) of vehicle direct of travel and target parking position (P)The degree of depth (D).
3. method according to claim 2, wherein, when the size of target parking position (P) is only fittedIn the time of vertical parking, carry out vertical shut-down operation pattern and comprise, determine the length (L) of target parking position (P)The width (WT) that is greater than described vehicle (100) adds the first width offset and is less than described vehicle (100)Length add the first length offset amount, and the degree of depth (D) of target parking position (P) is substantially equal to instituteState the length (LT) of vehicle (100).
4. method according to claim 3, wherein, the first width offset be 55cm and/orThe first length offset amount is 70cm.
5. method according to claim 2, wherein, when the size of target parking position (P) is only fittedIn the time of parallel parking, carry out parallel shut-down operation pattern and comprise, determine the length (L) of target parking position (P)The length (LT) that is greater than described vehicle (100) adds the second length offset amount, and target parking position(P) the degree of depth (D) is substantially equal to described vehicle (100) width (WT).
6. method according to claim 5, wherein, the second length offset amount is 70cm.
7. according to method in any one of the preceding claims wherein, wherein, according to objects in front (200)Length (LF) and described detected value (LR) determine that shut-down operation pattern comprises and judge along vehicle and advanceWhether the rear object (300) that direction is positioned at rear, parking stall (P) exists;
In the time that rear object (300) does not exist, determine according to the length of objects in front (200) (LF)Shut-down operation pattern;
In the time that rear object (300) exists, described detected value (LR) instruction rear object (300) edgeThe length (LR) of the direct of travel of vehicle (100), and according to the length of objects in front (200) (LF)And the length (LR) of rear object (300) is determined shut-down operation pattern.
8. according to method in any one of the preceding claims wherein, wherein, when rear object (300)While existence, determine that according to the length of objects in front (200) (LF) shut-down operation pattern comprises:
In the time that the length (LF) of objects in front (200) is positioned at vehicle width threshold range, carries out and hang downStraight shut-down operation pattern;
In the time that the length (LF) of objects in front (200) is positioned at Vehicle length threshold range, carry out flatRow shut-down operation pattern;
Otherwise, notify driver manually to select shut-down operation pattern.
9. according to method in any one of the preceding claims wherein, wherein, according to rear object (300)Length (LR) and the length (LF) of objects in front (200) determine that shut-down operation pattern comprises:
When the length (LF) of objects in front (200) is positioned at Vehicle length threshold range and rear object(300), when length (LR) is not positioned at vehicle width threshold range, carry out parallel shut-down operationPattern.
10. according to method in any one of the preceding claims wherein, wherein, when objects in front (200)Length (LF) length (LR) that is positioned at Vehicle length threshold range and rear object (300) do not haveWhile having the condition that is positioned at vehicle width threshold range not meet, described method also comprises:
When the length (LF) of objects in front (200) is positioned at vehicle width threshold range and rear object(300), when length (LR) is not positioned at Vehicle length threshold range, carry out vertical shut-down operationPattern.
11. according to method in any one of the preceding claims wherein, wherein, and when objects in front (200)Length (LF) length (LR) that is positioned at vehicle width threshold range and rear object (300) do not haveWhile having the condition that is positioned at Vehicle length threshold range not meet, described method also comprises:
When not both being positioned at Vehicle length threshold value, the length (LF) of objects in front (200) was not also positioned atWhen vehicle width threshold value, judge the length (LR) of rear object (300):
In the time that the length (LR) of rear object (300) is positioned at Vehicle length threshold range, carry out flatRow shut-down operation pattern;
In the time that the length (LR) of rear object (300) is positioned at vehicle width threshold range, carries out and hang downStraight shut-down operation pattern;
When not both being positioned at Vehicle length threshold range, the length (LF) of objects in front (200) do not have yetThere is the length (LR) that is positioned at vehicle width threshold range and rear object (300) not both to be positioned at carWhen length threshold is not positioned at vehicle width threshold range yet, driver is manually selected the behaviour of stoppingOperation mode.
12. according to method in any one of the preceding claims wherein, wherein, and when objects in front (200)Length (LF) be not both positioned at Vehicle length threshold range and be not positioned at vehicle width threshold range yetWhen interior condition does not meet, described method also comprises:
When the length (LF) of objects in front (200) is positioned at vehicle width threshold range and rear object(300), when length (LR) is positioned at Vehicle length threshold range, judges along vehicle direct of travel and existThe object (400) that park at rear object (300) rear is along the length (LRR) of vehicle direct of travel:
When the length (LRR) of the object (400) that park at object (300) rear is in the wings positioned at vehicleWithin the scope of length threshold time, carry out parallel shut-down operation pattern;
Otherwise driver is manually selected shut-down operation pattern.
13. according to method in any one of the preceding claims wherein, wherein, and when objects in front (200)Length (LF) be positioned at length (LR) position of vehicle width threshold range and rear object (300)When condition in Vehicle length threshold range does not meet, described method also comprises:
When the length (LF) of objects in front (200) is positioned at Vehicle length threshold range and rear object(300), when length (LR) is positioned at vehicle width threshold range, judge object (300) in the wingsThe object (400) that park at rear is along the length (LRR) of vehicle direct of travel:
When the length (LRR) of the object (400) that park at object (300) rear is in the wings positioned at vehicleWithin the scope of width threshold value time, carry out vertical shut-down operation pattern;
Otherwise driver is manually selected shut-down operation pattern.
14. according to method in any one of the preceding claims wherein, wherein, and described vehicle width threshold valueScope is the scope of 1.6 meters to 2.0 meters, and/or described Vehicle length threshold range be 3.5 meters to 5.5The scope of rice.
15. 1 kinds are used to the vehicle (100) of parking to target parking position (P) automatically to select the behaviour of stoppingThe parking assistance system of doing, comprises
Detection module, for:
Find the target parking position (P) for vehicle (100), wherein, objects in front (200) is along carThe direct of travel of (100) is positioned at the front of target parking position,
Detect the size of target parking position (P),
Detect the length (LF) of objects in front (200) along vehicle (100) direct of travel,
Detect along vehicle (100) direct of travel at the rear area at target parking position (P) rear to obtainOne detected value (LR); With
Executive Module, for:
Receive the information that sent by detection module, wherein, described information comprises target parking position (P)Size, the length (LF) of objects in front (200) and described detected value (LR);
Determine whether shut-down operation pattern can the size based on described target parking position (P) decide;Wherein
In the time that the size of target parking position (P) is only suitable for vertically stopping, described Executive Module is carried out verticalShut-down operation pattern;
In the time that the size of target parking position (P) is only suitable for parallel parking, described Executive Module is carried out parallelShut-down operation pattern;
If shut-down operation pattern can not the size based on described target parking position (P) decide, described inExecutive Module is determined parking according to the length of objects in front (200) (LF) and described detected value (LR)Operator scheme.
16. systems according to claim 15, wherein, detection module detects target parking position (P)Along length (L) and the degree of depth (D) of vehicle (100) direct of travel.
17. systems according to claim 16, wherein, when the length (L) of target parking position (P)The width (WT) that is greater than described vehicle (100) adds the first width offset and is less than described vehicle (100)Length (L) add the first length offset amount, and the degree of depth (D) of target parking position (P) is roughlyWhile equaling the length (LT) of described vehicle (100), described Executive Module is carried out vertical shut-down operation mouldFormula.
18. systems according to claim 17, wherein, the first width offset be 55cm and/Or first length offset amount be 70cm.
19. systems according to claim 16, wherein, when the length (L) of target parking position (P)The length that is greater than described vehicle (100) adds the second length offset amount, and target parking position (P)When the degree of depth (D) is substantially equal to the width (WT) of described vehicle (100), described Executive Module is carried outParallel shut-down operation pattern.
20. systems according to claim 19, wherein, the second length offset amount is 70cm.
21. according to the system described in any one in claim 15-20, and wherein, described Executive Module is sentencedWhether disconnected rear object (300) exists;
In the time that rear object (300) does not exist, described Executive Module is according to the length of objects in front (200)Degree (LF) is determined shut-down operation pattern;
In the time that rear object (300) exists, described Executive Module is designated as described detected value (LR)Rear object (300) is along the length (LR) of vehicle (100) direct of travel and according to objects in front (200)Length (LF) and the length (LR) of rear object (300) determine shut-down operation pattern.
22. according to the system described in any one in claim 15-21, wherein, and when rear object (300)While existence:
In the time that the length (LF) of objects in front (200) is positioned at vehicle width threshold range, described in holdRow module is carried out vertical shut-down operation pattern;
In the time that the length (LF) of objects in front (200) is positioned at Vehicle length threshold range, described in holdRow module is carried out parallel shut-down operation pattern;
Otherwise described Executive Module notifies driver manually to select shut-down operation pattern.
23. according to the system described in any one in claim 15-22, wherein, and when objects in front (200)Length (LF) length (LR) that is positioned at Vehicle length threshold range and rear object (300) do not haveWhile having the vehicle width of being positioned at threshold range, described Executive Module is carried out parallel shut-down operation pattern.
24. according to the system described in any one in claim 15-23, wherein, and when objects in front (200)Length (LF) length (LR) that is positioned at vehicle width threshold range and rear object (300) do not haveWhile having the Vehicle length of being positioned at threshold range, described Executive Module is carried out vertical shut-down operation pattern.
25. according to the system described in any one in claim 15-24, wherein, and when objects in front (200)Length (LF) be not both positioned at Vehicle length threshold range and be not positioned at vehicle width threshold range yetWhen interior, described Executive Module judges the length (LR) of rear object (300):
In the time that the length (LR) of rear object (300) is positioned at Vehicle length threshold range, described in holdRow module is carried out parallel shut-down operation pattern;
In the time that the length (LR) of rear object (300) is positioned at vehicle width threshold range, described in holdRow module is carried out vertical shut-down operation pattern;
When not both being positioned at Vehicle length threshold range, the length (LF) of objects in front (200) do not have yetThere is the length (LR) that is positioned at vehicle width threshold range and rear object (300) not both to be positioned at carAlso, while not being positioned at vehicle width threshold range within the scope of length threshold, described Executive Module notice is drivenThe person of sailing is manually selected shut-down operation pattern.
26. according to the system described in any one in claim 15-25, wherein, and when objects in front (200)Length (LF) be positioned at length (LR) position of vehicle width threshold range and rear object (300)In Vehicle length threshold range time, described Executive Module judges along vehicle direct of travel object in the wings(300) object that park at rear is along the length (LRR) of vehicle direct of travel:
When the length (LRR) of the object that park at object (300) rear is in the wings positioned at Vehicle length thresholdWithin the scope of value time, described Executive Module is carried out parallel shut-down operation pattern;
Otherwise described Executive Module driver is manually selected shut-down operation pattern.
27. according to the system described in any one in claim 15-26, wherein, and when objects in front (200)Length (LF) be positioned at length (LR) position of Vehicle length threshold range and rear object (300)In vehicle width threshold range time, described Executive Module judges along vehicle direct of travel object in the wings(300) object that park at rear is along the length (LRR) of vehicle direct of travel:
When the length (LRR) of the object that park at object (300) rear is in the wings positioned at vehicle width thresholdWithin the scope of value time, described Executive Module is carried out vertical shut-down operation pattern;
Otherwise described Executive Module driver is manually selected shut-down operation pattern.
28. according to the system described in any one in claim 15-27, wherein, and described vehicle width thresholdValue scope is the scope of 1.6 meters to 2.0 meters, and/or described Vehicle length threshold range be 3.5 meters to 5.5The scope of rice.
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